• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.923-928
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• 1990

This paper describes the design and implementation of a real-time, high-precision vision system and its application to SMT(surface mounting technology) automation. The vision system employs a 32 bit MC68030 as a main processor, and consists of image acquisition unit. DSP56001 DSP based vision processor, and several algorithmically dedicated hardware modules. The image acquisition unit provides 512*480*8 bit image for high-precision vision tasks. The DSP vision processor and hardware modules, such as histogram extractor and feature extractor, are designed for a real-time excution of vision algorithms. Especially, the implementation of multi-processing architecture based on DSP vision processors allows us to employ more sophisticated and flexible vision algorithms for real-time operation. The developed vision system is combined with an Adept Robot system to form a complete SMD system. It has been found that the vision guided SMD assembly system is able to provide a satisfactory performance for SND automation.

• Smart Structures and Systems
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• v.18 no.3
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• pp.585-599
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• 2016

Steel cables serve as the key structural components in long-span bridges, and the force state of the steel cable is deemed to be one of the most important determinant factors representing the safety condition of bridge structures. The disadvantages of traditional cable force measurement methods have been envisaged and development of an effective alternative is still desired. In the last decade, the vision-based sensing technology has been rapidly developed and broadly applied in the field of structural health monitoring (SHM). With the aid of vision-based multi-point structural displacement measurement method, monitoring of the tensile force of the steel cable can be realized. In this paper, a novel cable force monitoring system integrated with a multi-point pattern matching algorithm is developed. The feasibility and accuracy of the developed vision-based force monitoring system has been validated by conducting the uniaxial tensile tests of steel bars, steel wire ropes, and parallel strand cables on a universal testing machine (UTM) as well as a series of moving loading experiments on a scale arch bridge model. The comparative study of the experimental outcomes indicates that the results obtained by the vision-based system are consistent with those measured by the traditional method for cable force measurement.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.12
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• pp.1209-1216
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• 2009

This paper presents the pose estimation of a small UAV utilizing visual information from low cost cameras installed indoor. To overcome the limitation of the outside flight experiment, the indoor flight test environment based on multi-camera systems is proposed. Computer vision algorithms for the proposed system include camera calibration, color marker detection, and pose estimation. The well-known extended Kalman filter is used to obtain an accurate position and pose estimation for the small UAV. This paper finishes with several experiment results illustrating the performance and properties of the proposed vision-based indoor flight test environment.

• IEMEK Journal of Embedded Systems and Applications
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• v.18 no.6
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• pp.303-310
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• 2023

A single vision system limits the ability to accurately understand the spatial constraints and interactions between robots and dynamic workers caused by gantry robots and collaborative robots during production manufacturing. In this paper, we propose a 3D pose registration method for dynamic workers based on a multi-domain vision system for safety monitoring in manufacturing environments. This method uses OpenPose, a deep learning-based posture estimation model, to estimate the worker's dynamic two-dimensional posture in real-time and reconstruct it into three-dimensional coordinates. The 3D coordinates of the reconstructed multi-domain vision system were aligned using the ICP algorithm and then registered to a single 3D coordinate system. The proposed method showed effective performance in a manufacturing process environment with an average registration error of 0.0664 m and an average frame rate of 14.597 per second.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.691-694
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• 2000

In this paper, a motion control algorithm is proposed by using neural network system, which makes a robot arm successfully avoid unexpected obstacle when the robot is moving from the start to the goal position. During the motion, if there is an obstacle the vision system recognizes it. And in every time the optimization-algorithm quickly chooses a motion among the possible motions of robot. The proposed algorithm has a good avoidance characteristic in simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.547-554
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• 2013

This paper proposes a novel formation algorithm of identical robots based on object tracking method using omni-directional images obtained through fisheye lenses which are mounted on the robots. Conventional formation methods of multi-robots often use stereo vision system or vision system with reflector instead of general purpose camera which has small angle of view to enlarge view angle of camera. In addition, to make up the lack of image information on the environment, robots share the information on their positions through communication. The proposed system estimates the region of robots using SURF in fisheye images that have $360^{\circ}$ of image information without merging images. The whole system controls formation of robots based on moving directions and velocities of robots which can be obtained by applying Lucas-Kanade Optical Flow Estimation for the estimated region of robots. We confirmed the reliability of the proposed formation control strategy for multi-robots through both simulation and experiment.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.2
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• pp.165-171
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• 2004

Robots will be able to coexist with humans and support humans effectively in near future. One of the most important aspects in the development of human-friendly robots is to cooperation between humans and robots. In this paper, we proposed a method for multi-object identification in order to achieve such human-centered system and robot localization in intelligent space. The intelligent space is the space where many intelligent devices, such as computers and sensors, are distributed. The Intelligent Space achieves the human centered services by accelerating the physical and psychological interaction between humans and intelligent devices. As an intelligent device of the Intelligent Space, a color CCD camera module, which includes processing and networking part, has been chosen. The Intelligent Space requires functions of identifying and tracking the multiple objects to realize appropriate services to users under the multi-camera environments. In order to achieve seamless tracking and location estimation many camera modules are distributed. They causes some errors about object identification among different camera modules. This paper describes appearance based object representation for the distributed vision system in Intelligent Space to achieve consistent labeling of all objects. Then, we discuss how to learn the object color appearance model and how to achieve the multi-object tracking under occlusions.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.3
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• pp.274-282
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• 2011

This paper is focused on dynamic modeling and control system design as well as vision based collision avoidance for multi-rotor unmanned aerial vehicles (UAVs). Multi-rotor UAVs are defined as rotary-winged UAVs with multiple rotors. These multi-rotor UAVs can be utilized in various military situations such as surveillance and reconnaissance. They can also be used for obtaining visual information from steep terrains or disaster sites. In this paper, a quad-rotor model is introduced as well as its control system, which is designed based on a proportional-integral-derivative controller and vision-based collision avoidance control system. Additionally, in order for a UAV to navigate safely in areas such as buildings and offices with a number of obstacles, there must be a collision avoidance algorithm installed in the UAV's hardware, which should include the detection of obstacles, avoidance maneuvering, etc. In this paper, the optical flow method, one of the vision-based collision avoidance techniques, is introduced, and multi-rotor UAV's collision avoidance simulations are described in various virtual environments in order to demonstrate its avoidance performance.

• Journal of the Korea Fashion and Costume Design Association
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• v.9 no.2
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• pp.179-192
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• 2007

This study is to search for a new area and a new kind of occupation for fashion in the field of multi-media such as a movie, drama, mass-culture and advertisement, as a basic investigation to improve a potential of a development of fashion in the future, to keep in step with the trend of the changes under the environment of cultural renovation. In this reports, the field and vision of new contents in fashion will be proposed. The definition and environment of multi-media were examined, and various kinds and work areas of new fashion specialists were defined. 12 professionals in each fields relative to multi-media were selected and the status of affairs, problems and requirements of fashion specialists were investigated through the in-depth interviews with them. Finally new fields and visions were suggested on it's future course. The kind of fashion-specialist on the field related to multi-media were like this: 1. Fashion-stylist, Art-director and Image-maker for star on the field of Video industry. 2. Fashion-illustrator for making animation-game character, Avatar fashion product designer and Internet shopping buyer for Online-business industry. 3. Fashion PR director, Fashion-photo stylist for Advertisement industry. 1 classified new field on the field related to multi-media as the above, and I researched the role of specialist in each field and the status of affairs and vision.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.10a
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• pp.521-524
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• 2004

Recently, acgis of authentication and crcator's copyright has become a matter of great concern by the diffusion of multimedia technique and the growth of the internet and the easily duplicated property of digital data. Consequently, many active researches have been made to protect copyright and to assure integrity by inserting watermark into the digital data. In this paper, watermark is repealed through the entire image and adapted to the content of the image. Achieved by an underlying process of transforming the digital image to the frequency domain by wavelet transform, which has three (vertical, horizontal, diagonal) directions and Multi-resolution features, and then choosing frequency area inferior to the human perceptibility and significant for invisible and robust watermark. We realize wavelet based image watermarking using Machine Vision of LabVIEW.